JPS60148774A - Unmanned moving truck - Google Patents

Abstract

PURPOSE:To dispense with a steering motor, by providing a truck body with casters and a turntable which is equipped with two drive wheels, and by providing a means for unlocking the turntable at the time of changing the direction of movement of the truck body, and a means for fixing the truck body on the surface of a track. CONSTITUTION:Legs 12a-12d and outriggers 13a-13d are protruded from the four corners of the inside of the body 10 of a truck. Casters 14a-14d are attached to the lower ends of the legs 12a-12d. A projection 15 and a table support 16 are provided on the inside of the upper portion of the truck body 10. A disklike turntable 11 is provided under the projection 15 and the table support 16 so that the table can be optionally rotated around a shaft 17 supported by a bearing 18. Drive wheels 21, 22, which are driven by motors 19, 20, are attached to the bottom of the turntable 11. To change the moving direction of the truck, the outriggers 13a-13d are elongated to lift the truck body 10 to pull the projection 15 out of a recess 231 to unlock the turntable 11 so that only the turntable is rotated by a desired angle. After that, the vehicle body 10 is moved down, and locked by the projection 15.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an unmanned vehicle that travels straight, diagonally, and sideways using two drive wheels and travels from 5' to 5K.

Conventionally, as an unmanned vehicle, something like the one shown in Fig. M1 has been put into practical use. Drive wheels 4.5 driven by motors 2 and 3, respectively, and motors 6.7 for steering their small drive wheels 4 and 5 are disposed at the corners, and the other diagonal corner Casters 8 and 9 are respectively disposed on the sides. In this unmanned vehicle, when changing the running direction without changing the attitude of the vehicle body 1, the steering motor 6.
7 is activated.

That is, for example, when the vehicle body 1 is moved sideways, the motor 6.7 moves the drive wheels 4,
5 axle directions are each changed by 90°.

By the way, such conventional unmanned vehicles require a steering motor 6.7 and a drive circuit for the motor in addition to the motor 2.3 for driving the drive wheels, so they have the disadvantage of high manufacturing cost. was there. .

In view of these conventional problems, the present invention aims to provide an unmanned vehicle that does not require a steering motor.

Therefore, in the present invention, a rotary table having two drive wheels is supported on the vehicle body, and a means for locking the rotary table to the vehicle body while driving and releasing the lock when moving forward or changing direction; The vehicle is provided with means for fixing the vehicle body to the road surface when changing the course, and further includes casters for supporting itself on the upper hpi vehicle body.

Hereinafter, the invention will be described in detail with reference to the F1 drawing.

As an embodiment of the unmanned vehicle according to the present invention is conceptually shown in FIG.
1 or supported.

The vehicle body 10 has a box shape with an opening at the bottom, as shown in FIG. 4, which is a cross-section of FIG. 3 taken along line A--A. And in the square inside thereof, there are legs 12a to 1 facing the road surface.
2d and outriggers 13a-13d are respectively protrudingly provided, and casks 14a-14a are provided at the lower ends of the legs 12a-12d.
14d is attached. Furthermore, a protrusion 15 and a table support member 16 (see FIG. 4), which are engaged with the rotary table 1, are provided on the inner surface of the upper portion thereof.

The lengths of the legs lftSi 2 a to 12d are set so that the casters 14a to 14d are located below the lower edge of the side of the vehicle body 1o, as shown in FIG. Also, the upper outriggers 13a to 13 (for l,
An electric type is used.

The rotary table 11 has a circular oval shape, and its ll11
The portion 17 is fitted into a bearing 18 provided on the inner surface of the upper part of the vehicle body. And motor 19.20 is installed on both sides of the bottom surface.
A plurality of, for example, eight, recessed holes 2 are provided on the upper surface of the drive shaft 21 and 22 on the same circumference.
3. ~238 are formed at equal pitches.

In addition, -E combination 11 pivot wheel 21.22 is that time! 17
1I opening is arranged along the diameter of the rotating daple 11. In addition, each of the recessed holes 23. The radius of the circumference connecting 238 to 238 is made to match the distance from the center of the shaft portion 17 to the center of the protrusion 15, and once the rotating daple 11 was positioned in the manner shown in FIG. If the protrusion 15 is in the recessed hole 23. as shown in FIG. The rotation of the table 11 with respect to the vehicle body 1o is suppressed.

The unmanned vehicle in this example was able to move 1j by a command from a guiding means such as a wired wire, an electric wire, or a guiding line laid on the road surface.
lJ Ii'll be done. Although not shown, the outrigger 1 is attached to the vehicle body 10 based on the command.
A control device jL (for example, a microcomputer) is mounted for providing drive signals to the drive motors 3a to 13C (not shown) and the motors 21 and 22 for the drive wheels 21 and 22.

Hereinafter, the operation of this embodiment will be explained with reference to FIG. 5, which shows the processing contents of the above-mentioned control device at the time of course change.

Assuming that the vehicle is currently traveling straight ahead with the width shown in FIG.
00), it is determined whether there is a course change command among the commands (step 101), and if a course change command is issued that changes the course of the vehicle by 45'' to the right, for example, the vehicle After stopping the outrigger,
13a to 13d (steps 102 and 1
o3).

When one of the above outriggers 13a to 13 (1 is extended,
As shown in FIG. 8, the vehicle body 10 is lifted, the casters 14a to 14 (1) are separated from the road surface 24, the protrusion 15 is pulled out of the recessed hole 231, and the rotary table 11 is unlocked. Therefore, the above control device is i
iJ motor 19. Operate 20. C left and right drive wheels 2.
1.21 are rotated in different directions, that is, in the directions indicated by arrows in FIG. 6 (step 104). In this way, the vehicle body 10 is fixed to the road surface 24, and the drive wheels 21
, 22 are on the ground, the table 11 is turned to the right when viewed from the top side.

Next, the vibration control device determines whether the table has turned right by a predetermined angle (45°) based on an output signal from a sensor that detects rotation of the rotary table 11, for example, an encoder that drives the table 11. C step 105). And Figure 7 shows 9-inch table 11
When it is confirmed that the wheel has turned 45 degrees, the drive wheels 21,
22 is stopped (step 106), and then the outriggers 13a to 13d are retracted (step 107).
.

At the time when the outrigger is retracted, the recessed hole 236 of the table is located below the projection 15, and therefore, the projection 15 is fitted into the recessed hole 238 as the outrigger retracts. Rotary table 1
1 is locked to the vehicle body 10.

Therefore, the side diagonal device operates the motors 19 and 20 to rotate the drive wheels 21 and 22 at a constant speed in the direction in which the vehicle moves forward (step 108), thereby causing the vehicle to move forward in the 71st
1 with an arrow at 1. It is moved diagonally to the right at an angle of 45 degrees.

The case where the vehicle is moved diagonally to the right has been described above, but the same moves 7+111 as above are used to cause the vehicle to skew to the left and to the left.

Can be made to traverse to the right.

Note that the protrusion 15 and the recessed holes 23, -23. has a tapered surface, so even if there is a slight error in positioning the table 11, the recessed hole is guided by the protrusion 15 and the error is corrected.

In the above embodiment, by extending the outriggers 13 and -13d, the vehicle body 1o is identified with the road surface 24 and the lock of the rotary table 11 relative to the vehicle body 10 is released, but such an action may be performed by other means. Of course n
y ability. 1) That is, for example, the caster 1
By attaching an electric actuator such as a solenoid to 4a to 14d and activating this actuator to lock each caster, the vehicle body can be fixed to the road surface.
- Force, the protrusion 15 is constantly held on the table 11 by a spring or the like.
side, and the protrusion 15 is moved upward by an electric actiniator such as a solenoid so that the protrusion 15 and the recessed hole 23. ~23. If pressure is applied to break the engagement state, the rotary table 11 can be unlocked. In this case, since the upper surface of the rotary table 11 will not slide with respect to the vehicle body 10 when changing course, it is preferable to interpose a bearing or the like between them.

Of course, it is also possible to provide the same effect as in the previous embodiment by providing casters at the tips of the outriggers 13a to 13d and attaching electric locking means to the casters.

Further, in the above embodiment, one protrusion is connected to the recessed hole 23. ~238
I am trying to make one of these holes, but the same number of protrusions as these holes are placed on the car body at the same pitch.

It may also be provided on the side so that each of the protrusions corresponds to one hole K1ff.゛Also, pull the protrusion 15
1 side with a recessed hole 23. ~23. Of course, it is also possible to provide this on the lo side K of the vehicle body. Furthermore, a re-clutch i structure may be interposed between the vehicle body 10 and the daple 11, and this clutch a+MK may be used to connect and connect the two at one point. Since the rotational position of the table 11 is not limited (in the case of the embodiment, the rotational position is 45'' steps), the table 1ltt can be rotated by any angle.

By the way, when guiding Yuzu's unmanned vehicle using so-called guidance lines or mark tape placed on the road surface, a steering sensor is installed on the vehicle, but conventional unmanned vehicles cannot move forward or backward. Because of this, there are 21 pieces each on the front and back.
The same Senna was installed □. Since the invention and the related unmanned vehicle use the rotating cape 11, two cables 25 and 26 are installed on the rotating table 11 as shown in FIG. It has the advantage that it only needs to be done. That is, if the table 11 is rotated by 180 degrees, the senna 25 and 26 will be located at the rear of the vehicle body as shown by the dotted line in the figure. .26 can also be used as a steering sensor for longitudinal speed. In addition, in conventional unmanned vehicles of this type, non-contact obstacles are attached to the front and rear of the vehicle body, but in the unmanned vehicle according to the invention, for the same reason as above, It is possible to detect obstacles in the traveling direction using two obstacle sensors.

In addition, when guiding the unmanned vehicle shown in the above embodiment by fanning the guide i, etc., the attitude of the vehicle is corrected by changing the degree of rotation of the left and right drive wheels. Furthermore, the unmanned vehicle of the above embodiment is capable of so-called comfortable turning.

As is clear from the operation of the above embodiment, the unmanned vehicle related to the favorite ψJ travels diagonally without using a steering motor, causing a tatami noise.

Therefore, manufacturing costs can be reduced compared to the conventional unmanned vehicle described above.

[Brief explanation of the drawing]

Fig. 11 is a plan view conceptually showing an example of a conventional unmanned vehicle, Fig. 2 is a plan view showing the mode of steering when the unmanned car shown in Fig. 1 is moving sideways, and Fig. 3 is a plan view conceptually showing an example of a conventional unmanned vehicle. A perspective view conceptually showing the configuration of an unmanned vehicle according to the present invention, FIG. 4 is a sectional view taken along line A-A in FIG. 3, and FIG. FIGS. 6 and 7 are perspective views conceptually showing the state of the vehicle when the vehicle is running straight and diagonally, respectively, and FIG. 8 (8) is a sectional view showing the state of the vehicle when the outriggers are extended. 10-...Vehicle body, 11...Rotary table, 13a-1
3d...Outriggers 114a to 14d...Casters, 15...Protrusions, 17...Shafts, 18...Bearings, 19.20...Motors, 21, 22...Drive wheels, 23. ~238...concave hole, 24...road trj?
. Figure 1 Figure 2 Figure 3 Figure 4 n Figure 5

Claims (1)

[Claims] A one-turn table having two driving wheels arranged thereon, a vehicle body supporting the rotary table, a means for locking the rotary table to the vehicle body during traveling and releasing the lock when changing the course, and a means for locking the rotary table when changing the course i. and means for fixing the vehicle body to a road surface, and the vehicle body is provided with casters for supporting itself.